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Dynamic active catching using a high-speed multifingered hand and a high-speed vision system | IEEE Conference Publication | IEEE Xplore
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Dynamic active catching using a high-speed multifingered hand and a high-speed vision system


Abstract:

A new robotic hand system with high-speed finger motion of 180 [deg] per 0.1 [s] has been developed. With high-speed visual feedback at a rate of 1 [kHz], various dynamic...Show More

Abstract:

A new robotic hand system with high-speed finger motion of 180 [deg] per 0.1 [s] has been developed. With high-speed visual feedback at a rate of 1 [kHz], various dynamic manipulations are achieved. As examples of dynamic manipulation we describe the dynamic active catching tasks for a falling ball and a falling cylinder using a high-speed multifingered hand. We achieved these difficult tasks by utilizing high-speed motion and impact forces actively. Experimental results using active catching strategy based on visual feedback are shown.
Date of Conference: 26 April 2004 - 01 May 2004
Date Added to IEEE Xplore: 27 September 2004
Print ISBN:0-7803-8232-3
Print ISSN: 1050-4729
Conference Location: New Orleans, LA, USA
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